Subversion Repositories FlightCtrl

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
308 osiair 1 
   1               		.file	"rc.c"
2 
   2               		.arch atmega644
3 
   3               	__SREG__ = 0x3f
4 
   4               	__SP_H__ = 0x3e
5 
   5               	__SP_L__ = 0x3d
6 
   6               	__tmp_reg__ = 0
7 
   7               	__zero_reg__ = 1
8 
   8               		.global __do_copy_data
9 
   9               		.global __do_clear_bss
10 
  10               		.text
11 
  11               	.global	rc_sum_init
12 
  13               	rc_sum_init:
13 
  14               	/* prologue: frame size=0 */
14 
  15               	/* prologue end (size=0) */
15 
  16 0000 83EC      		ldi r24,lo8(-61)
16 
  17 0002 8093 8100 		sts 129,r24
17 
  18 0006 EFE6      		ldi r30,lo8(111)
18 
  19 0008 F0E0      		ldi r31,hi8(111)
19 
  20 000a 8081      		ld r24,Z
20 
  21 000c 8062      		ori r24,lo8(32)
21 
  22 000e 8083      		st Z,r24
22 
  23 0010 1092 0000 		sts (AdNeutralGier)+1,__zero_reg__
23 
  24 0014 1092 0000 		sts AdNeutralGier,__zero_reg__
24 
  25 0018 1092 0000 		sts (AdNeutralRoll)+1,__zero_reg__
25 
  26 001c 1092 0000 		sts AdNeutralRoll,__zero_reg__
26 
  27 0020 1092 0000 		sts (AdNeutralNick)+1,__zero_reg__
27 
  28 0024 1092 0000 		sts AdNeutralNick,__zero_reg__
28 
  29               	/* epilogue: frame size=0 */
29 
  30 0028 0895      		ret
30 
  31               	/* epilogue end (size=1) */
31 
  32               	/* function rc_sum_init size 21 (20) */
32 
  34               	.global	__vector_12
33 
  36               	__vector_12:
34 
  37               	/* prologue: frame size=0 */
35 
  38 002a 1F92      		push __zero_reg__
36 
  39 002c 0F92      		push __tmp_reg__
37 
  40 002e 0FB6      		in __tmp_reg__,__SREG__
38 
  41 0030 0F92      		push __tmp_reg__
39 
  42 0032 1124      		clr __zero_reg__
40 
  43 0034 0F93      		push r16
41 
  44 0036 1F93      		push r17
42 
  45 0038 2F93      		push r18
43 
  46 003a 3F93      		push r19
44 
  47 003c 4F93      		push r20
45 
  48 003e 5F93      		push r21
46 
  49 0040 6F93      		push r22
47 
  50 0042 7F93      		push r23
48 
  51 0044 8F93      		push r24
49 
  52 0046 9F93      		push r25
50 
  53 0048 AF93      		push r26
51 
  54 004a BF93      		push r27
52 
  55 004c CF93      		push r28
53 
  56 004e DF93      		push r29
54 
  57 0050 EF93      		push r30
55 
  58 0052 FF93      		push r31
56 
  59               	/* prologue end (size=21) */
57 
  60 0054 2091 8600 		lds r18,134
58 
  61 0058 3091 8700 		lds r19,(134)+1
59 
  62 005c 8091 0000 		lds r24,AltICR.2005
60 
  63 0060 9091 0000 		lds r25,(AltICR.2005)+1
61 
  64 0064 281B      		sub r18,r24
62 
  65 0066 390B      		sbc r19,r25
63 
  66 0068 8091 8600 		lds r24,134
64 
  67 006c 9091 8700 		lds r25,(134)+1
65 
  68 0070 9093 0000 		sts (AltICR.2005)+1,r25
66 
  69 0074 8093 0000 		sts AltICR.2005,r24
67 
  70 0078 C901      		movw r24,r18
68 
  71 007a 8D5D      		subi r24,lo8(-(-1501))
69 
  72 007c 9540      		sbci r25,hi8(-(-1501))
70 
  73 007e 8356      		subi r24,lo8(6499)
71 
  74 0080 9941      		sbci r25,hi8(6499)
72 
  75 0082 00F4      		brsh .L4
73 
  76 0084 81E0      		ldi r24,lo8(1)
74 
  77 0086 90E0      		ldi r25,hi8(1)
75 
  78 0088 9093 0000 		sts (index.2007)+1,r25
76 
  79 008c 8093 0000 		sts index.2007,r24
77 
  80 0090 1092 0000 		sts NewPpmData,__zero_reg__
78 
  81 0094 00C0      		rjmp .L14
79 
  82               	.L4:
80 
  83 0096 C091 0000 		lds r28,index.2007
81 
  84 009a D091 0000 		lds r29,(index.2007)+1
82 
  85 009e CE30      		cpi r28,14
83 
  86 00a0 D105      		cpc r29,__zero_reg__
84 
  87 00a2 04F0      		brlt .+2
85 
  88 00a4 00C0      		rjmp .L14
86 
  89 00a6 C901      		movw r24,r18
87 
  90 00a8 8B5F      		subi r24,lo8(-(-251))
88 
  91 00aa 9040      		sbci r25,hi8(-(-251))
89 
  92 00ac 845B      		subi r24,lo8(436)
90 
  93 00ae 9140      		sbci r25,hi8(436)
91 
  94 00b0 00F0      		brlo .+2
92 
  95 00b2 00C0      		rjmp .L8
93 
  96 00b4 A901      		movw r20,r18
94 
  97 00b6 425D      		subi r20,lo8(-(-466))
95 
  98 00b8 5140      		sbci r21,hi8(-(-466))
96 
  99 00ba FE01      		movw r30,r28
97 
 100 00bc EE0F      		lsl r30
98 
 101 00be FF1F      		rol r31
99 
 102 00c0 E050      		subi r30,lo8(-(PPM_in))
100 
 103 00c2 F040      		sbci r31,hi8(-(PPM_in))
101 
 104 00c4 8081      		ld r24,Z
102 
 105 00c6 9181      		ldd r25,Z+1
103 
 106 00c8 FA01      		movw r30,r20
104 
 107 00ca E81B      		sub r30,r24
105 
 108 00cc F90B      		sbc r31,r25
106 
 109 00ce CF01      		movw r24,r30
107 
 110 00d0 F7FF      		sbrs r31,7
108 
 111 00d2 00C0      		rjmp .L11
109 
 112 00d4 9095      		com r25
110 
 113 00d6 8195      		neg r24
111 
 114 00d8 9F4F      		sbci r25,lo8(-1)
112 
 115               	.L11:
113 
 116 00da 0697      		sbiw r24,6
114 
 117 00dc 04F4      		brge .L10
115 
 118 00de 8091 0000 		lds r24,SenderOkay
116 
 119 00e2 883C      		cpi r24,lo8(-56)
117 
 120 00e4 00F4      		brsh .L10
118 
 121 00e6 8091 0000 		lds r24,SenderOkay
119 
 122 00ea 865F      		subi r24,lo8(-(10))
120 
 123 00ec 8093 0000 		sts SenderOkay,r24
121 
 124               	.L10:
122 
 125 00f0 FE01      		movw r30,r28
123 
 126 00f2 EE0F      		lsl r30
124 
 127 00f4 FF1F      		rol r31
125 
 128 00f6 8F01      		movw r16,r30
126 
 129 00f8 0050      		subi r16,lo8(-(PPM_in))
127 
 130 00fa 1040      		sbci r17,hi8(-(PPM_in))
128 
 131 00fc D801      		movw r26,r16
129 
 132 00fe 2D91      		ld r18,X+
130 
 133 0100 3C91      		ld r19,X
131 
 134 0102 C901      		movw r24,r18
132 
 135 0104 880F      		lsl r24
133 
 136 0106 991F      		rol r25
134 
 137 0108 820F      		add r24,r18
135 
 138 010a 931F      		adc r25,r19
136 
 139 010c 840F      		add r24,r20
137 
 140 010e 951F      		adc r25,r21
138 
 141 0110 64E0      		ldi r22,lo8(4)
139 
 142 0112 70E0      		ldi r23,hi8(4)
140 
 143 0114 0E94 0000 		call __divmodhi4
141 
 144 0118 D801      		movw r26,r16
142 
 145 011a 8D91      		ld r24,X+
143 
 146 011c 9C91      		ld r25,X
144 
 147 011e 1197      		sbiw r26,1
145 
 148 0120 9B01      		movw r18,r22
146 
 149 0122 281B      		sub r18,r24
147 
 150 0124 390B      		sbc r19,r25
148 
 151 0126 E050      		subi r30,lo8(-(PPM_diff))
149 
 152 0128 F040      		sbci r31,hi8(-(PPM_diff))
150 
 153 012a 3183      		std Z+1,r19
151 
 154 012c 2083      		st Z,r18
152 
 155 012e 1196      		adiw r26,1
153 
 156 0130 7C93      		st X,r23
154 
 157 0132 6E93      		st -X,r22
155 
 158               	.L8:
156 
 159 0134 2196      		adiw r28,1
157 
 160 0136 D093 0000 		sts (index.2007)+1,r29
158 
 161 013a C093 0000 		sts index.2007,r28
159 
 162               	.L14:
160 
 163               	/* epilogue: frame size=0 */
161 
 164 013e FF91      		pop r31
162 
 165 0140 EF91      		pop r30
163 
 166 0142 DF91      		pop r29
164 
 167 0144 CF91      		pop r28
165 
 168 0146 BF91      		pop r27
166 
 169 0148 AF91      		pop r26
167 
 170 014a 9F91      		pop r25
168 
 171 014c 8F91      		pop r24
169 
 172 014e 7F91      		pop r23
170 
 173 0150 6F91      		pop r22
171 
 174 0152 5F91      		pop r21
172 
 175 0154 4F91      		pop r20
173 
 176 0156 3F91      		pop r19
174 
 177 0158 2F91      		pop r18
175 
 178 015a 1F91      		pop r17
176 
 179 015c 0F91      		pop r16
177 
 180 015e 0F90      		pop __tmp_reg__
178 
 181 0160 0FBE      		out __SREG__,__tmp_reg__
179 
 182 0162 0F90      		pop __tmp_reg__
180 
 183 0164 1F90      		pop __zero_reg__
181 
 184 0166 1895      		reti
182 
 185               	/* epilogue end (size=21) */
183 
 186               	/* function __vector_12 size 162 (120) */
184 
 188               	.global	NewPpmData
185 
 189               		.data
186 
 192               	NewPpmData:
187 
 193 0000 01        		.byte	1
188 
 194               		.lcomm index.2007,2
189 
 195               		.lcomm AltICR.2005,2
190 
 196               		.comm PPM_in,30,1
191 
 197               		.comm PPM_diff,30,1
192 
 198               		.comm DiffNick,2,1
193 
 199               		.comm DiffRoll,2,1
194 
 200               		.comm SenderOkay,1,1
195 
 201               		.comm CosinusNickWinkel,1,1
196 
 202               		.comm CosinusRollWinkel,1,1
197 
 203               		.comm durchschnitt_northing,4,1
198 
 204               		.comm durchschnitt_easting,4,1
199 
 205               		.comm P_GPS_Verstaerkung,2,1
200 
 206               		.comm D_GPS_Verstaerkung,2,1
201 
 207               		.comm RemoteTasten,1,1
202 
 208               		.comm Timeout,1,1
203 
 209               		.comm IntegralNick,4,1
204 
 210               		.comm IntegralNick2,4,1
205 
 211               		.comm IntegralRoll,4,1
206 
 212               		.comm IntegralRoll2,4,1
207 
 213               		.comm Mess_IntegralNick,4,1
208 
 214               		.comm Mess_IntegralNick2,4,1
209 
 215               		.comm Mess_IntegralRoll,4,1
210 
 216               		.comm Mess_IntegralRoll2,4,1
211 
 217               		.comm Integral_Gier,4,1
212 
 218               		.comm Mess_Integral_Gier,4,1
213 
 219               		.comm h,1,1
214 
 220               		.comm m,1,1
215 
 221               		.comm s,1,1
216 
 222               		.comm Motor_Vorne,1,1
217 
 223               		.comm Motor_Hinten,1,1
218 
 224               		.comm Motor_Rechts,1,1
219 
 225               		.comm Motor_Links,1,1
220 
 226               		.comm Count,1,1
221 
 227               		.comm MotorWert,5,1
222 
 228               	/* File "rc.c": code  183 = 0x00b7 ( 140), prologues  21, epilogues  22 */
223 
DEFINED SYMBOLS
224 
                            *ABS*:00000000 rc.c
225 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:3      *ABS*:0000003f __SREG__
226 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:4      *ABS*:0000003e __SP_H__
227 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:5      *ABS*:0000003d __SP_L__
228 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:6      *ABS*:00000000 __tmp_reg__
229 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:7      *ABS*:00000001 __zero_reg__
230 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:13     .text:00000000 rc_sum_init
231 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:36     .text:0000002a __vector_12
232 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:194    .bss:00000002 AltICR.2005
233 
                             .bss:00000000 index.2007
234 
C:\DOKUME~1\none\LOKALE~1\Temp/ccvMRwBf.s:192    .data:00000000 NewPpmData
235 
                            *COM*:0000001e PPM_in
236 
                            *COM*:00000001 SenderOkay
237 
                            *COM*:0000001e PPM_diff
238 
                            *COM*:00000002 DiffNick
239 
                            *COM*:00000002 DiffRoll
240 
                            *COM*:00000001 CosinusNickWinkel
241 
                            *COM*:00000001 CosinusRollWinkel
242 
                            *COM*:00000004 durchschnitt_northing
243 
                            *COM*:00000004 durchschnitt_easting
244 
                            *COM*:00000002 P_GPS_Verstaerkung
245 
                            *COM*:00000002 D_GPS_Verstaerkung
246 
                            *COM*:00000001 RemoteTasten
247 
                            *COM*:00000001 Timeout
248 
                            *COM*:00000004 IntegralNick
249 
                            *COM*:00000004 IntegralNick2
250 
                            *COM*:00000004 IntegralRoll
251 
                            *COM*:00000004 IntegralRoll2
252 
                            *COM*:00000004 Mess_IntegralNick
253 
                            *COM*:00000004 Mess_IntegralNick2
254 
                            *COM*:00000004 Mess_IntegralRoll
255 
                            *COM*:00000004 Mess_IntegralRoll2
256 
                            *COM*:00000004 Integral_Gier
257 
                            *COM*:00000004 Mess_Integral_Gier
258 
                            *COM*:00000001 h
259 
                            *COM*:00000001 m
260 
                            *COM*:00000001 s
261 
                            *COM*:00000001 Motor_Vorne
262 
                            *COM*:00000001 Motor_Hinten
263 
                            *COM*:00000001 Motor_Rechts
264 
                            *COM*:00000001 Motor_Links
265 
                            *COM*:00000001 Count
266 
                            *COM*:00000005 MotorWert
267 
 
268 
UNDEFINED SYMBOLS
269 
__do_copy_data
270 
__do_clear_bss
271 
AdNeutralGier
272 
AdNeutralRoll
273 
AdNeutralNick
274 
__divmodhi4